Functions for parsing URDF/SDF data. More...

#include <UrdfParser.h>

Public Member Functions
sdf::Root &	GetRoot () &

const sdf::Root &	GetRoot () const &

sdf::Root &&	GetRoot () &&

const AZStd::string &	GetParseMessages () const &

AZStd::string &&	GetParseMessages () &&

const sdf::Errors &	GetSdfErrors () const &

sdf::Errors &&	GetSdfErrors () &&

	operator bool () const

bool	UrdfParsedWithModifiedContent () const
	Returns if the URDF content was modified during parsing.

Public Attributes
sdf::Root	m_root
	Root SDF object containing parsed SDF XML content if successful.

AZStd::string	m_parseMessages

sdf::Errors	m_sdfErrors { sdf::Error{ O3DESdfErrorParseNotStarted, std::string{ "No Parsing has occurred yet" } } }

std::string	m_modifiedURDFContent
	Stores the modified URDF content after parsing, empty if no modification occurred.

Utils::UrdfModifications	m_urdfModifications
	Stores description of URDF modifications, empty if no modification occurred.

Static Public Attributes
static constexpr auto	O3DESdfErrorParseNotStarted = static_cast<sdf::ErrorCode>(static_cast<int>(O3DESdfErrorCodeStart) + 1)

Detailed Description

Functions for parsing URDF/SDF data.

Stores the result of parsing URDF/SDF data The operator bool returns true if the sdf::Errors vector is empty

Member Function Documentation

◆ GetParseMessages()

const AZStd::string & ROS2::UrdfParser::ParseResult::GetParseMessages ( ) const &

Property getters for retrieving parsing messages logged during libsdformat parsing of the URDF content This does not support a non-const lvalue overload As modification the result structure parser messages have no need to be modified inplace

◆ GetRoot()

sdf::Root & ROS2::UrdfParser::ParseResult::GetRoot ( ) &

Ref qualifier overloads for retrieving sdf::Root it supports a non-const lvalue overload to allow modification of the sdf::Root object directly

◆ GetSdfErrors()

const sdf::Errors & ROS2::UrdfParser::ParseResult::GetSdfErrors ( ) const &

Returns the sdf::Error vector containing any parser errors This does not support a non-const lvalue overload As modification the result structure sdf Errors have no need to be modified inplace

◆ operator bool()

ROS2::UrdfParser::ParseResult::operator bool ( ) const

explicit

Returns if the parsing of the SDF file has succeeded This will return false if the sdf::Errors vector is non-empty

Member Data Documentation

◆ m_parseMessages

AZStd::string ROS2::UrdfParser::ParseResult::m_parseMessages

Contains any messages that are output to the sdf::Console during parsing These messages are captured and provided to the caller to allow outputting in any manner they choose

◆ m_sdfErrors

sdf::Errors ROS2::UrdfParser::ParseResult::m_sdfErrors { sdf::Error{ O3DESdfErrorParseNotStarted, std::string{ "No Parsing has occurred yet" } } }

Vector structure populated with sdf::Error objects indicating that parsing of the .sdf/.urdf file has failed with an error

The documentation for this struct was generated from the following file:

Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.h

Public Member Functions

Public Attributes

Static Public Attributes